check for variants of baseline parameter in config #3
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willdzeng
reviewed
Feb 2, 2017
src/zed_cpu_ros.cpp
Outdated
| @@ -277,10 +284,6 @@ class ZedCameraROS { | |||
| right_info.D[3] = p1; | |||
| right_info.D[4] = p2; | |||
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| // Intrinsic camera matrix | |||
| // [fx 0 cx] | |||
| // K = [ 0 fy cy] | |||
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Can you recover my comments? just for other people to understand
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yes of course! don't even remember why this was deleted 😄
willdzeng
reviewed
Feb 2, 2017
src/zed_cpu_ros.cpp
Outdated
| left_info.R.fill(0.0); | ||
| right_info.R.fill(0.0); | ||
| cv::Mat rvec = (cv::Mat_<double>(3, 1) << rx, ry, rz); |
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according to
stereolabs/zed-ros-wrapper#39
the rx, ry, rz is RX, RY and CV.
It says the image published by SDK is rectified, but doesn't mean from the USB VideoCapture is rectified, since ZED doesn't have any onboard processor.
So this rx ry rz is useful. Please recover this.
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Hi Micheal, |
added accidentaly removed breaks again reverted small formatting errors (tab vs. space) reverted small formatting errors fix deleted lines check for variants of baseline parameter in config & require node in launchfile
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Hey, I did the changes. Please check :) |
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Great! Thanks |
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There are config files that have the parameter string
Baselineinstead ofBaseLine.See http://calib.stereolabs.com/?SN=4353 for an example.
I included a fix that checks which variant of the baseline parameter is present and loads accordingly.
Furthermore, I marked the
zed_cpu_ros_nodeas required in the launch file such that roslaunch kills all other nodes if an error occurs in this node.